Laser radar device

Abstract

The utility model provides a laser radar device, which comprises a base, a rotating turntable arranged on the base, a scanning mirror module arranged on the turntable, the scanning mirror module comprises a main frame, a rotating scanning mirror arranged on the main frame, a light receiving module arranged at the bottom of the scanning mirror, the light receiving module comprises a reflecting mirror, a shell arranged on the turntable, and a window mirror arranged on the shell. The high-precision laser light source on the shell emits a pulse laser beam, and the light beam reflected by the scanning mirror is emitted through the window mirror. When the laser pulse is reflected by a target, a part of energy sequentially passes through the window mirror, the scanning mirror and the spherical mirror and is finally received by a detector on the light receiving plate. The whole device is large in scanning field of view, large in receiving aperture, capable of conducting 360-degree scanning in the horizontal direction, high in efficiency, high in point cloud quality, capable of fully covering a target area, reasonable in overall structure arrangement, small in occupied space, small in integration difficulty, low in manufacturing and material cost and high in popularization value.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of radar ranging, especially to a laser radar device. BACKGROUND

[0002] The laser radar is a complex system integrated with multiple technologies, such as: laser light source and collimation, receiving detection, analog amplifier, analog-digital conversion, high-speed data processing, grating encoder angle measurement, tilt attitude measurement, high-precision synchronous control, high-precision rotary scanning, control software, data processing software, etc. The current laser radar still has challenges in cost, lightweight, data processing, environmental adaptability, etc. The existing laser radar device has a complex structure, the layout and relative position relationship of each module in the laser radar are complex, the occupied space is large, the integration difficulty is great, the complex module design and layout may cause the increase of manufacturing and material cost, and the cost is increased. Meanwhile, the existing laser radar has a small scanning field of view and a small receiving aperture. Therefore, the laser radar device is proposed to solve the above problems. SUMMARY

[0003] The utility model provides a kind of laser radar device, solve the problem that the existing laser radar device structure is complex, the layout position relationship of each module in the laser radar is complex, the occupied space is large, and cost is increased.

[0004] To solve the above technical problems, the technical scheme adopted by the utility model is: a kind of laser radar device, including base, base is equipped with rotating turntable, turntable is equipped with scanning mirror module, scanning mirror module includes main frame, main frame is equipped with rotating scanning mirror, scanning mirror bottom is equipped with light receiving module, light receiving module includes reflector, turntable is equipped with shell, shell is equipped with window mirror.

[0005] In the preferred scheme, the base includes a base, the base is provided with an outer tooth rotary support, a code disc and a slip ring, the outer ring of the outer tooth rotary support is connected with the base, the inner ring of the outer tooth rotary support is connected with the turntable, and the code disc is installed on the base.

[0006] In the preferred scheme, the inner ring of the outer tooth rotary support is rotatably connected with the outer ring of the outer tooth rotary support.

[0007] In the preferred scheme, the base is provided with a power supply interface and a signal interface, and the top of the base is provided with a sealing ring.

[0008] In the preferred scheme, the turntable includes a rotating seat, the rotating seat is provided with a motor, the output end of the motor is provided with a gear, the gear at the end of the motor is engaged with the outer tooth rotary support, and the rotating seat is provided with an encoder, an inclination sensor and a seed light plate.

[0009] In the preferred scheme, the scanning mirror module comprises a main frame, a rotating shaft is arranged on the main frame, a second motor is arranged at one end of the rotating shaft, a second encoder is arranged at the other end of the rotating shaft, a scanning mirror is arranged on the rotating shaft, and an inclined plate is arranged at the bottom of the main frame.

[0010] In the preferred scheme, a spherical mirror is arranged on the inclined plate, a multifunctional module and a compass are arranged on the main frame, and a light receiving module is arranged on one side of the inclined plate.

[0011] In the preferred scheme, the light receiving module comprises a hollow light receiving seat, a light receiving plate is arranged on one side of the light receiving seat, and a reflecting mirror is arranged on the light receiving seat.

[0012] In the preferred scheme, a laser light source, a data processing and central control module and an analog-digital conversion module are arranged on the shell, and a window mirror is arranged on one side of the scanning mirror.

[0013] The beneficial effects of the utility model are as follows: the high-precision laser light source on the shell emits a pulsed laser beam, the laser beam is shaped by a collimator, the shaped light beam reaches the reflecting surface of the scanning mirror, the light beam reflected by the scanning mirror transmits through the window mirror, when the laser pulse is reflected by a target, part of the energy will sequentially pass through the window mirror, the scanning mirror and the spherical mirror, and finally be received by the detector on the light receiving plate, and the time spent in this process is recorded. The distance between the emission point and the target is calculated.

[0014] In the scanning process, the tilt sensor continuously monitors the angle change caused by any possible slight movement or vibration; at the same time, the compass keeps track of the actual pointing direction of the scanner. The information provided by both is integrated into the data acquisition process for real-time adjustment of the calculated point cloud coordinates.

[0015] When the overall device needs to rotate, the motor on the driving disc is driven to rotate the gear at one end of the motor, so that the scanning mirror module and the light receiving module on the driving disc rotate relative to the base. The overall device has a large scanning field of view and a large receiving aperture, can perform 360° scanning, has high efficiency and high point cloud quality, can comprehensively cover the target area, avoids causing a blind area, the overall structure is reasonably arranged, the relative positions of the base, the driving disc, the scanning mirror module and the light receiving module are reasonably arranged, the occupied space is small, the integration difficulty is small, the manufacturing and material costs are low, and the overall device has great popularization value. BRIEF DESCRIPTION OF DRAWINGS

[0016] The utility model will be further described in connection with the drawings and embodiments;

[0017] Figure 1 is the axial view of the overall structure of the utility model;

[0018] Figure 2 is the top view of the base of the utility model;

[0019] Figure 3is the sectional view of the base of the utility model;

[0020] Figure 4 is the plan view of the rotating disc of the utility model;

[0021] Figure 5 is the side view of the scanning mirror module of the utility model;

[0022] Figure 6 is the side view of the light receiving module of the utility model;

[0023] In the drawing: base 1, pedestal 101, power interface 102, signal interface 103, external tooth rotary support 104, slip ring 105, code disc 106, sealing ring 107, rotating disc 2, rotating seat 201, motor 202, encoder 203, inclination sensor 204, seed light plate 205, scanning mirror module 3, main frame 301, multifunctional module 302, scanning mirror 303, rotating shaft 304, second motor 305, second encoder 306, compass 307, spherical mirror 308, inclined plate 309, light receiving module 4, light receiving seat 401, light receiving plate 402, reflecting mirror 403, shell 7, laser light source 701, window mirror 702. DETAILED DESCRIPTION

[0024] Example 1:

[0025] As Figures 1-6 In the drawing: base 1, pedestal 101, power interface 102, signal interface 103, external tooth rotary support 104, slip ring 105, code disc 106, sealing ring 107, rotating disc 2, rotating seat 201, motor 202, encoder 203, inclination sensor 204, seed light plate 205, scanning mirror module 3, main frame 301, multifunctional module 302, scanning mirror 303, rotating shaft 304, second motor 305, second encoder 306, compass 307, spherical mirror 308, inclined plate 309, light receiving module 4, light receiving seat 401, light receiving plate 402, reflecting mirror 403, shell 7, laser light source 701, window mirror 702. According to the structure, the high-precision laser light source 701 on the shell 7 emits a pulsed laser beam, the laser beam is shaped by a collimator, the shaped light beam reaches the reflecting surface of the scanning mirror 303, and the light beam reflected by the scanning mirror 303 transmits through the window mirror 702. The emitted laser pulse passes through the atmosphere to the surface of a target object and is reflected therefrom, and since the laser has high directionality, it can accurately point to a specific target.

[0026] When the laser pulse is reflected by the target, part of the energy will pass through the window mirror 702, the scanning mirror 303 and the spherical mirror 308 in turn, and finally be received by the detector on the light receiving plate 402, and the time taken for the process is recorded. According to the time required for the laser to go back and forth and the speed of light, the distance between the emission point and the target can be calculated.

[0027] During the scanning process, the tilt sensor 204 continuously monitors any slight movement or vibration-induced angle changes that may occur; meanwhile, the compass 307 keeps track of the actual pointing direction of the scanner. The information provided by both is integrated into the data acquisition process for real-time adjustment of the calculated point cloud coordinates. In the post-processing stage, the information from the tilt sensor 204 and the compass 307 is combined with other sensor data to jointly contribute to the construction of a complete three-dimensional scene model. This multi-source data fusion technology ensures the high accuracy and reliability of the final output results.

[0028] When the overall device needs to be rotated, the motor 202 on the rotating disc 2 is driven to rotate the gear at one end of the motor 202, so that the rotating disc 2 rotates relative to the base 1, and the scanning mirror module 3 and the light receiving module 4 on the rotating disc 2 rotate relative to the base 1. The overall device has a large scanning field of view and a large receiving aperture, can perform 360° scanning, has high efficiency and high point cloud quality, can comprehensively cover the target area, avoids causing blind areas, the overall structure is reasonably arranged, the relative positions of the base 1, the rotating disc 2, the scanning mirror module 3 and the light receiving module 4 are reasonably arranged, the occupied space is small, the integration difficulty is small, and the manufacturing and material costs are low.

[0029] In the preferred scheme, the base 1 includes a base 101, the base 101 is provided with an outer tooth rotary support 104, a code disc 106 and a slip ring 105, the outer ring of the outer tooth rotary support 104 is connected with the base 101, the inner ring of the outer tooth rotary support 104 is connected with the rotating disc 2, and the code disc 106 is installed on the base 101. By this structure, the motor 202 on the rotating disc 2 is driven to rotate the gear at one end of the motor 202, so that the gear ring on the outer tooth rotary support 104 rotates, the outer ring of the outer tooth rotary support 104 rotates relative to the inner ring of the outer tooth rotary support 104, and the rotating disc 2 rotates relative to the base 1. The inner and outer rings of the outer tooth rotary support 104 are in the form of bearings. The code disc 106 is installed on a code disc seat, and the code disc seat is installed on the base 1, so that the code disc 106 does not move when the rotating disc 2 rotates, and the reading head on the encoder 203 rotates relative to the code disc 106.

[0030] In the preferred scheme, the inner ring of the outer tooth rotary support 104 is rotatably connected with the outer ring of the outer tooth rotary support 104. By this structure, when the rotating disc 2 rotates relative to the base 1, the scanning mirror module 3 and the light receiving module 4 on the rotating disc 2 rotate relative to the base 1, the overall device has a large scanning field of view and a large receiving aperture, can perform 360° scanning, has high efficiency and high point cloud quality, and can comprehensively cover the target area to avoid causing blind areas.

[0031] In the preferred embodiment, the base 101 is provided with a power interface 102 and a signal interface 103, and the top of the base 101 is provided with a sealing ring 107. In this way, the power interface 102 can provide sufficient power for charging. When the device is used with a camera, the camera is connected to the device through the signal interface 103, and the device can obtain optical images, thereby providing more abundant geographic information.

[0032] In the preferred embodiment, the rotating disc 2 includes a rotating seat 201, the rotating seat 201 is provided with a motor 202, the output end of the motor 202 is provided with a gear, the gear at the end of the motor 202 is engaged with the outer toothed rotary support 104, and the rotating seat 201 is provided with an encoder 203, an inclination sensor 204, and a seed light plate 205. In this way, the inclination sensor 204 continuously monitors the angle changes caused by any possible slight movement or vibration; at the same time, the compass 307 keeps track of the actual pointing direction of the scanner. The information provided by both is integrated into the data acquisition process for real-time adjustment of the calculated point cloud coordinates. In the post-processing stage, the information from the inclination sensor 204 and the compass 307 is combined with other sensor data to jointly build a complete three-dimensional scene model.

[0033] In the preferred embodiment, the scanning mirror module 3 includes a main frame 301, the main frame 301 is provided with a rotating rotating shaft 304, one end of the rotating shaft 304 is provided with a second motor 305, the other end of the rotating shaft 304 is provided with a second encoder 306, the rotating shaft 304 is provided with a scanning mirror 303, and the bottom of the main frame 301 is provided with an inclined plate 309. In this way, after the point cloud is filtered, classified, and other operations by the data processing software, digital terrain model DTM, digital surface model DSM, and vegetation height model CHM products can be finally obtained. These models can be used for various applications, such as urban planning, forest resource investigation, disaster risk assessment, etc. The second motor 305 is driven to rotate the rotating shaft 304, so as to rotate the scanning mirror 303, thereby adjusting the angle of the outgoing laser.

[0034] In the preferred embodiment, the inclined plate 309 is provided with a spherical mirror 308, the main frame 301 is provided with a multifunctional module 302 and a compass 307, and the light receiving module 4 is installed on one side of the inclined plate 309.

[0035] In the preferred embodiment, the light receiving module 4 includes a hollow light receiving seat 401, one side of the light receiving seat 401 is provided with a light receiving plate 402, and the light receiving seat 401 is provided with a reflecting mirror 403. In this way, all the collected data, including the position and intensity of the laser points and other possible information such as the number of echoes, are integrated to form point cloud data. Point cloud is a collection of points in three-dimensional space, and each point represents the position information of a point in the actual world.

[0036] In a preferred scheme, the housing 7 is provided with a laser light source 701, a data processing and central control module and an analog-digital conversion module, and the window mirror 702 is located on one side of the scanning mirror 303. With this structure, the laser radar device is a three-dimensional laser scanner, that is, it is not necessary to move the carrier with the scanner, but only to place the scanner on a fixed platform, and through the horizontal rotation of the turntable 2 relative to the base 1 and the swinging of the scanning mirror 303 of the scanning mirror module 3, three-dimensional point cloud data can be obtained.

[0037] In addition, the laser scanning system of the device is also provided with a signal interface 103 connected with a digital camera, and when the device is used in cooperation with the camera, the device can obtain optical images, thereby providing more abundant color texture information. In combination with the laser radar data and the optical images, the data quality of the point cloud can be further enhanced through color information, and the collected data can be better understood and explained.

[0038] The above-mentioned embodiments are only preferred technical solutions of the present application, and should not be regarded as a limitation of the present application. The protection scope of the present application should be based on the technical solutions recited in the claims, and the equivalent replacement schemes of the technical features recited in the claims are within the protection scope. That is, the equivalent replacement improvements within this range are also within the protection scope of the present application.

Claims

1. A lidar device, characterized by: The utility model provides a scanning mirror module, including base (1), be equipped with rotary turntable (2) on base (1), be equipped with scanning mirror module (3) on turntable (2), scanning mirror module (3) includes main frame (301), be equipped with rotary scanning mirror (303) on main frame (301), scanning mirror (303) bottom is equipped with light receiving module (4), light receiving module (4) includes mirror (403), be equipped with shell (7) on turntable (2), be equipped with window mirror (702) on shell (7).

2. The lidar device of claim 1, wherein: The base (1) comprises a base (101), an outer tooth rotary support (104), a code disc (106) and a slip ring (105) are arranged on the base (101), the outer ring of the outer tooth rotary support (104) is connected with the base (101), the inner ring of the outer tooth rotary support (104) is connected with the turntable (2), and the code disc (106) is installed on the base (101).

3. The lidar device of claim 2, wherein: The inner ring of the outer tooth rotary support (104) is rotatably connected with the outer ring of the outer tooth rotary support (104).

4. The lidar device of claim 2, wherein: The base (101) is provided with a power interface (102) and a signal interface (103), and the top of the base (101) is provided with a sealing ring (107).

5. The lidar device of claim 1, wherein: The turntable (2) comprises a rotating base (201), a motor (202) is arranged on the rotating base (201), a gear is arranged at the output end of the motor (202), the gear at the end of the motor (202) is engaged with the outer tooth rotary support (104), and an encoder (203), an inclination sensor (204) and a seed light plate (205) are arranged on the rotating base (201).

6. The lidar device of claim 1, wherein: The main frame (301) is provided with a rotating shaft (304), one end of the rotating shaft (304) is provided with a second motor (305), the other end of the rotating shaft (304) is provided with a second encoder (306), the scanning mirror (303) is arranged on the rotating shaft (304), and the bottom of the main frame (301) is provided with an inclined plate (309).

7. The lidar device of claim 6, wherein: The inclined plate (309) is provided with a spherical mirror (308), the main frame (301) is provided with a multifunctional module (302) and a compass (307), and the light receiving module (4) is installed on one side of the inclined plate (309).

8. The lidar device of claim 1, wherein: The light receiving module (4) comprises a hollow light receiving seat (401), a light receiving plate (402) is arranged on one side of the light receiving seat (401), and a mirror (403) is arranged on the light receiving seat (401).

9. The lidar device of claim 1, wherein: The shell (7) is provided with a laser light source (701), a data processing and central control module and an analog-digital conversion module, and the window mirror (702) is located on one side of the scanning mirror (303).

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